A stable finite-difference time-domain (FDTD) sub-grid ding method using the summation-by-parts simultaneous approximation term (SBP-SAT) technique is proposed. To meet the SBP properties and keep Yee's grids unch...
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This paper proposes a cooperative path-planning method based on multi-Dubins path segments to meet the penetration requirements of UAVs in a complex threat environment. A pruning strategy is used in path-planning to s...
This paper proposes a cooperative path-planning method based on multi-Dubins path segments to meet the penetration requirements of UAVs in a complex threat environment. A pruning strategy is used in path-planning to sift path segments, and the diversity of threat avoidance paths is considered under a reasonable calculation amount. A threat intrusion strategy is designed for no safety path condition, which makes the cooperative path-planning method have excellent robustness. A cooperative path optimization method based on particle swarm optimization is adopted for the path length and collision avoidance *** simulation results show that the UAV cooperative paths can avoid the threat area under any starting and ending points, and path lengths are close to the expected length.
In autonomous robot exploration, it is very important that the robot can autonomously plan the exploration path of the unknown environment and create a map representation of the surrounding environment. In the robot...
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A stable and symmetric finite-difference time-domain (FDTD) subgridding method is proposed to effectively and accurately solve the three-dimensional electromagnetic prob-lems. The linear interpolation coefficient (LIC...
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The multicopter formation is widely used in many different complex circumstances. And the semi-autonomous multicopter formation controlled with a single pilot on the ground draws people’s attention due to the great a...
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This paper investigates the cooperative guidance issue for multiple unmanned aerial vehicles (UAVs) for simultaneous attacks on maneuvering targets with a prescribed angle formation. Each UAV is accessible to the rela...
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In this study, an improved A∗algorithm based on multi-layers and multi-constraints is proposed for solving the problem that A∗algorithm must detour when encounters obstacles due to the deficiency of vertical dimension...
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To address the failure of precise overload tracking and anti-interference caused by the difficulty of accurate modeling of a complex aircraft, the controller designing method based on deep reinforcement learning is st...
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ISBN:
(数字)9781728159225
ISBN:
(纸本)9781728159232
To address the failure of precise overload tracking and anti-interference caused by the difficulty of accurate modeling of a complex aircraft, the controller designing method based on deep reinforcement learning is studied. This paper trained the control network based on the Proximal Policy Optimization (PPO), studied the tracking control problem of the aircraft, and accurately tracked the typical command signals. Fixed-point simulation of the aircraft is performed, with results showing that, in presence of aircraft model parameter variation and external disturbance, the controller based on deep reinforcement learning can achieve accurate tracking of overload commands.
This paper proposes a cooperative path-planning method based on multi-Dubins path segments to meet the penetration requirements of UAVs in a complex threat environment. A pruning strategy is used in path-planning to s...
This paper proposes a cooperative path-planning method based on multi-Dubins path segments to meet the penetration requirements of UAVs in a complex threat environment. A pruning strategy is used in path-planning to sift path segments, and the diversity of threat avoidance paths is considered under a reasonable calculation amount. A threat intrusion strategy is designed for no safety path condition, which makes the cooperative path-planning method have excellent robustness. A cooperative path optimization method based on particle swarm optimization is adopted for the path length and collision avoidance requirements. The simulation results show that the UAV cooperative paths can avoid the threat area under any starting and ending points, and path lengths are close to the expected length.
Point cloud preprocessing is still a challenging task in the marine environment, for it is difficult to filter out non-obstacle points while avoiding damage to the obstacle completeness. In this paper, we propose a no...
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